Coil yard unmanned trolley clamp control method and related equipment

Abstract

The application discloses a clamp control method for an unmanned vehicle in a steel coil warehouse and related equipment, and relates to the field of steel coil warehouse management, and mainly aims to solve the problem that the information of the steel coil recorded and stored in the steel coil warehouse does not match the actual stored steel coil, which leads to the problem that the unmanned vehicle has errors when clamping the steel coil. The method comprises the following steps: determining a first distance based on a range finder, wherein the range finder is arranged at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil; determining the actual steel coil diameter based on the first distance and a second distance, wherein the second distance represents the distance between the clamp and the ground; and determining a clamp control strategy based on the actual steel coil diameter. The application is used in the clamp control process of the unmanned vehicle in the steel coil warehouse.

Description

Technical Field

[0001] This invention relates to the field of steel coil warehouse management, and in particular to a clamp control method and related equipment for an unmanned overhead crane in a steel coil warehouse. Background Technology

[0002] Unmanned overhead cranes are intelligent equipment related to smart manufacturing and smart workshops, representing a new technology under the current trend of intelligent development. Unmanned overhead cranes are created by retrofitting existing or newly added overhead cranes in a factory to enable unmanned operation. This involves adding crane positioning and wireless communication systems, and upgrading the crane control system to achieve automatic crane positioning and automatic execution of steel coil lifting operations. The warehouse management system issues crane tasks, and the crane decomposes and executes the tasks step by step to complete the entire task, achieving unmanned and automatic operation of the crane throughout the entire process.

[0003] Due to the complexity of the warehouse area, communication anomalies can cause tracking errors in the warehouse management system, leading to abnormal tracking of steel coils at the saddle positions. Since the crane determines the steel coil information at the saddle positions based on the tracking results from the warehouse management system, anomalies in the steel coil tracking information will cause the crane to misjudge the steel coil information at the saddle positions. For example, if there are no steel coils at the saddle position but the tracking system shows coils, the crane will perform the task as if there were coils present. However, because the crane is performing the normal coil-retrieval process when there are no coils, it is performing an invalid operation, reducing the crane's operating efficiency, and may even cause the clamps to touch the ground and damage themselves. Summary of the Invention

[0004] In view of the above problems, the present invention provides a clamp control method and related equipment for an unmanned crane in a steel coil warehouse. The main purpose is to solve the problem that the steel coil information entered and stored in the steel coil warehouse does not match the actual steel coils stored, which leads to errors when the unmanned crane clamps the steel coils.

[0005] To solve at least one of the above-mentioned technical problems, in a first aspect, the present invention provides a clamp control method for an unmanned overhead crane in a steel coil warehouse, the method comprising:

[0006] The first distance is determined based on the rangefinder, wherein the rangefinder is set at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil.

[0007] The actual steel coil diameter is determined based on the first and second distances mentioned above, wherein the second distance refers to the distance between the clamps and the ground;

[0008] The clamp control strategy is determined based on the actual steel coil diameter.

[0009] Optionally, determining the actual steel coil diameter based on the first and second distances includes:

[0010] The diameter of the steel coil is determined based on the difference between the second distance and the first distance mentioned above;

[0011] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is less than the first preset error, the actual steel coil diameter is determined to be equal to the calculated steel coil diameter and / or the preset steel coil diameter.

[0012] Optionally, determining the actual steel coil diameter based on the first and second distances includes:

[0013] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, the steel coil saddle block spacing and the steel coil saddle block angle are obtained.

[0014] The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks.

[0015] Optionally, determining the actual steel coil diameter based on the first and second distances includes:

[0016] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the first preset comparison diameter, then the steel coil saddle block spacing and the steel coil saddle block angle are obtained.

[0017] The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks.

[0018] Optionally, determining the actual steel coil diameter based on the first and second distances includes:

[0019] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the second preset comparison diameter, then the actual steel coil diameter is determined to be equal to the calculated steel coil diameter and / or the preset steel coil diameter, wherein the second preset comparison diameter is greater than the first preset comparison diameter.

[0020] Optionally, the above methods also include:

[0021] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the second preset error and less than the third preset error, and the absolute value of the difference between the first distance and the second distance is greater than the preset difference, the steel coil storage is determined to be abnormal.

[0022] If an abnormality is found in the storage of steel coils, an alarm is issued to the staff.

[0023] Optionally, the above methods also include:

[0024] If the absolute value of the difference between the first distance and the second distance is less than or equal to a preset difference, it is determined that the steel coil does not exist;

[0025] If the steel coil is determined to be absent, the control clamp stops performing the operation.

[0026] Secondly, embodiments of the present invention also provide a clamp control device for an unmanned overhead crane in a steel coil warehouse, comprising:

[0027] The first determining unit is used to determine a first distance based on a rangefinder, wherein the rangefinder is installed at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil.

[0028] The second determining unit is used to determine the actual steel coil diameter based on the first distance and the second distance mentioned above, wherein the second distance represents the distance between the clamp and the ground;

[0029] The third determining unit is used to determine the clamp control strategy based on the actual steel coil diameter.

[0030] To achieve the above objectives, according to a third aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium comprising a stored program, wherein, when the program is executed by a processor, the steps of the above-described clamp control method for an unmanned trolley in a steel coil warehouse are implemented.

[0031] To achieve the above objectives, according to a fourth aspect of the present invention, an electronic device is provided, comprising at least one processor and at least one memory connected to the processor; wherein the processor is configured to invoke program instructions in the memory to execute the steps of the above-described clamp control method for an unmanned crane in a steel coil depot.

[0032] By employing the above technical solution, the clamp control method and related equipment for unmanned vehicles in steel coil warehouses provided by this invention address the problem of discrepancies between the steel coil information entered and stored in the steel coil warehouse and the actual steel coils stored, leading to errors in the unmanned vehicle's clamping of steel coils. This invention determines a first distance based on a rangefinder, wherein the rangefinder is located at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil; determines the actual steel coil diameter based on the first distance and a second distance, wherein the second distance represents the distance between the clamp and the ground; and determines a clamp control strategy based on the actual steel coil diameter. In the above solution, a laser rangefinder is added to the steel coil clamp to detect the distance between the clamp and the object below it. The control system calculates and processes the information based on the steel coil to determine whether a steel coil is present at the take-up position. If a steel coil is present, the take-up operation proceeds normally. If the steel coil is not present, the take-up operation is canceled and an alarm is issued. This avoids the steel coil clamp taking up an empty coil due to the absence of a steel coil at the target position, which would affect the efficiency of the crane operation. It also reduces the problem of the crane taking up a coil at a seat without a coil due to abnormal tracking of the warehouse management system, or even the clamp touching the ground.

[0033] Correspondingly, the clamp control device, equipment, and computer-readable storage medium for the unmanned crane in the steel coil warehouse provided in the embodiments of the present invention also have the above-mentioned technical effects.

[0034] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0035] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0036] Figure 1 A flowchart illustrating a clamp control method for an unmanned overhead crane in a steel coil warehouse, provided by an embodiment of the present invention, is shown.

[0037] Figure 2 This diagram illustrates the position of a laser rangefinder mounted on a steel coil clamp according to an embodiment of the present invention.

[0038] Figure 3 This diagram illustrates the state of a steel coil on a saddle according to an embodiment of the present invention.

[0039] Figure 4This diagram illustrates the composition of a clamp control device for an unmanned overhead crane in a steel coil warehouse, according to an embodiment of the present invention.

[0040] Figure 5 This diagram illustrates the composition of a clamp control electronic device for an unmanned overhead crane in a steel coil warehouse, as provided in an embodiment of the present invention. Detailed Implementation

[0041] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0042] To address the issue of discrepancies between the steel coil information entered and stored in the steel coil warehouse and the actual steel coils stored, leading to errors in the gripping of steel coils by unmanned vehicles, this invention provides a gripper control method for unmanned vehicles in steel coil warehouses. Figure 1 As shown, the method includes:

[0043] S101. Determine a first distance based on a rangefinder, wherein the rangefinder is installed at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil.

[0044] For example, to detect the distance from the top of the steel coil clamp to the top of the steel coil below it, this method adds a laser rangefinder (hereinafter referred to as the rangefinder) to the top beam of the steel coil clamp to detect the distance from the clamp to the top of the steel coil. If there is no steel coil, the detected distance value is the distance to the ground. Figure 2 As shown: 1 is the clamp, 2 is the rangefinder. The height of the steel coil clamp is determined based on the clamp height detection value of the original control system. This method determines the distance between the clamp and the steel coil by detecting the distance information between the clamp and the object below it.

[0045] S102. Determine the actual steel coil diameter based on the first distance and the second distance mentioned above, wherein the second distance refers to the distance between the clamp and the ground;

[0046] For example, the actual diameter of the steel coil can be determined based on a second distance (distance between the clamp and the ground) and a first distance (distance between the clamp and the steel coil).

[0047] For example, the crane is positioned above the coil take-up saddle, and the rangefinder returns the distance value from the clamp to the top of the steel coil; the system calculates the diameter of the steel coil based on the second distance (i.e., the distance from the rangefinder to the ground) and the first distance (the height value returned by the rangefinder);

[0048] S103. Determine the clamp control strategy based on the actual steel coil diameter.

[0049] For example, compared to the method of controlling the clamps based solely on the difference between the second distance and the first distance, which is based on the information of the steel coils stored in the steel coil warehouse, this solution determines whether there is a steel coil at the take-up position by the actual diameter of the steel coil. If the steel coil is present, the take-up operation is performed normally. If the steel coil is not present, the take-up operation is canceled and an alarm is given. This avoids the steel coil clamps from taking up empty coils or even the clamps touching the ground and causing operational failures due to the absence of steel coils at the target position, which would affect work efficiency.

[0050] By employing the above technical solution, the clamp control method for unmanned vehicles in steel warehouses provided by this invention addresses the problem of discrepancies between the steel coil information entered and stored in the steel coil warehouse and the actual steel coils stored, leading to errors in the unmanned vehicle's clamping of steel coils. This invention determines a first distance based on a rangefinder, wherein the rangefinder is located at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil; determines the actual steel coil diameter based on the first and second distances, wherein the second distance represents the distance between the clamp and the ground; and determines a clamp control strategy based on the actual steel coil diameter. In the above solution, a laser rangefinder is added to the steel coil clamp to detect the distance between the clamp and the object below it. The control system calculates and processes the information based on the steel coil to determine whether a steel coil is present at the take-up position. If a steel coil is present, the take-up operation proceeds normally. If the steel coil is not present, the take-up operation is canceled and an alarm is issued. This avoids the steel coil clamp taking up an empty coil due to the absence of a steel coil at the target position, which would affect the efficiency of the crane operation. It also reduces the problem of the crane taking up a coil at a seat without a coil due to abnormal tracking of the warehouse management system, or even the clamp touching the ground.

[0051] In one embodiment, determining the actual steel coil diameter based on the first and second distances includes:

[0052] The diameter of the steel coil is determined based on the difference between the second distance and the first distance mentioned above;

[0053] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is less than the first preset error, the actual steel coil diameter is determined to be equal to the calculated steel coil diameter and / or the preset steel coil diameter.

[0054] For example, the calculated steel coil diameter can be calculated based on the difference between the second distance (distance between the clamp and the ground) and the first distance (distance between the clamp and the steel coil). Since the absolute accuracy of the actual measurement cannot be guaranteed, this solution sets a first preset error. If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is less than the first preset error, it indicates that the calculated steel coil diameter and the preset steel coil diameter are almost identical, and the measurement error is negligible. Therefore, the actual steel coil diameter is determined to be equal to the calculated steel coil diameter and / or the preset steel coil diameter.

[0055] In one embodiment, determining the actual steel coil diameter based on the first and second distances includes:

[0056] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, the steel coil saddle block spacing and the steel coil saddle block angle are obtained.

[0057] The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks.

[0058] For example, if the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, it proves that a steel coil exists here, but the calculated steel coil diameter is different from the steel coil diameter information in the pre-existing steel coil library (because the steel coil diameter exceeds a certain value, the steel coil cannot directly touch the ground and will be suspended for a short distance). At this time, the actual steel coil diameter is recalculated, and the actual steel coil diameter is determined by the first distance, the second distance, the steel coil saddle block spacing, and the steel coil saddle block angle.

[0059] For example, the state of the steel coil on the saddle is as follows: Figure 3 (A represents a steel coil whose diameter is too large to directly touch the ground, while B represents a steel coil with a smaller diameter that can directly touch the ground). The formula for calculating the steel coil diameter D is:

[0060] When D ≤ Ls / tan(θ / 2), D = h t -h c ;

[0061] When D > Ls / tan(θ / 2),

[0062] In the above formula, D is the calculated diameter of the steel coil; Ls is the spacing between the steel coil saddle blocks; θ is the angle of the steel coil saddle blocks; ht is the height of the steel coil clamp; and hc is the height detected by the rangefinder.

[0063] In one embodiment, determining the actual steel coil diameter based on the first and second distances includes:

[0064] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the first preset comparison diameter, then the steel coil saddle block spacing and the steel coil saddle block angle are obtained.

[0065] The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks.

[0066] For example, if the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, there is still a possibility that the actual diameter of the placed steel coil is smaller than the preset diameter, rather than the steel coil being unable to touch the ground due to its own excessive diameter. Therefore, this method is set in the case where the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the first preset comparison diameter. This can more accurately determine the situation where the actual steel coil is suspended and cannot touch the ground. At this time, the actual steel coil diameter is recalculated, and the actual steel coil diameter is determined by the first distance, the second distance, the steel coil saddle block spacing, and the steel coil saddle block angle.

[0067] In one embodiment, determining the actual steel coil diameter based on the first and second distances includes:

[0068] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the second preset comparison diameter, then the actual steel coil diameter is determined to be equal to the calculated steel coil diameter and / or the preset steel coil diameter, wherein the second preset comparison diameter is greater than the first preset comparison diameter.

[0069] For example, if the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the second preset comparison diameter, it can be determined that there is a distance from the ground below the steel coil. If this distance from the ground is removed, the actual steel coil diameter is equal to the calculated steel coil diameter and / or the preset steel coil diameter, then it can be determined that the actual steel coil diameter is equal to the calculated steel coil diameter and / or the preset steel coil diameter.

[0070] In one embodiment, the above method further includes:

[0071] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the second preset error and less than the third preset error, and the absolute value of the difference between the first distance and the second distance is greater than the preset difference, the steel coil storage is determined to be abnormal.

[0072] If an abnormality is found in the storage of steel coils, an alarm is issued to the staff.

[0073] For example, if the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the second preset error and less than the third preset error, and the absolute value of the difference between the first distance and the second distance is greater than the preset difference, it proves that a steel coil does exist here, but the actual diameter of the steel coil (i.e., the calculated steel coil diameter) differs too much from the preset steel coil diameter (the calculated steel coil diameter may be too large or too small compared to the preset steel coil diameter). At this time, it is determined that the steel coil is stored abnormally, and an alarm is issued to the staff.

[0074] For example, this method calculates the steel coil diameter based on the rangefinder data and compares it with the preset steel coil diameter given by the system. If the calculated steel coil diameter is within the diameter error range, the steel coil can be judged to be normal. If the diameter error exceeds the error range, the steel coil can be preliminarily judged to be abnormal, an alarm prompt can be given, and manual confirmation can be made, which can improve the accuracy of steel coil hoisting and logistics.

[0075] In one embodiment, the above method further includes:

[0076] If the absolute value of the difference between the first distance and the second distance is less than or equal to a preset difference, it is determined that the steel coil does not exist;

[0077] If the steel coil is determined to be absent, the control clamp stops performing the operation.

[0078] For example, if the absolute value of the difference between the first distance and the second distance is less than or equal to a preset difference, it proves that the steel coil does not exist at this location. In this case, the control clamp stops performing the operation to avoid the steel coil clamp failing to pick up the coil due to the absence of a steel coil at the target location, or even the clamp touching the ground and causing operational failure. This solution judges the reasonableness of the steel coil diameter based on the preset steel coil diameter provided by the steel coil system and the calculated steel coil diameter to determine whether there is a steel coil at the saddle seat.

[0079] For example, this solution can determine whether there is a steel coil at the crane's coil-retrieving position based on the rangefinder's detection value and the calculated steel coil diameter. If the steel coil diameter calculated from the rangefinder data is much smaller than the reasonable diameter value of the steel coil, it can be determined that the steel coil at the target position does not exist. The system will issue an alarm message, prompting that the steel coil needs to be manually identified, thus avoiding the steel coil clamps from taking an empty coil or causing a grounding failure, and improving the safety and operational efficiency of steel coil hoisting.

[0080] Furthermore, the following illustrates the implementation process of a specific clamp control method for an unmanned overhead crane inside a steel coil warehouse:

[0081] 1. The unmanned vehicle's task is to retrieve the coil from position A47-13 on the saddle seat. The saddle seat coordinates are x = 99518 mm and y = 8705 mm. The coil number is SF122212200200, the outer diameter is 1730 mm, the inner diameter is 610 mm, the width is 1504 mm, the thickness is 2.5 mm, and the weight is 25210 kg. The saddle seat tilt angle is θ = 30°, and the center distance Ls of the saddle seat is 300 mm.

[0082] 2. First, the unmanned crane automatically positions itself at the A47-13 position of the saddle seat. After the unmanned crane completes the positioning, it issues a positioning completion signal and then waits for the roll retrieval operation command.

[0083] 3. After detecting the unmanned crane's positioning completion signal, the control system determines that the crane operation is a coil unloading operation and then calculates the steel coil diameter. The steel coil clamp height is 4860mm, and the rangefinder value is 3185mm. According to the steel coil diameter calculation formula, the calculated steel coil diameter is 1724.6mm. Compared with the given preset steel coil diameter value of 1730mm, the diameter deviation is 5.4mm, which is less than the given diameter error of 100mm. Therefore, the steel coil information is determined to be normal, and the crane proceeds with the coil unloading operation normally.

[0084] 4. This method tests the operation of retrieving a coil when the overhead crane is positioned at an empty saddle seat, simulating the coil retrieval operation when there is no coil at the saddle seat. After the overhead crane is positioned at the given empty saddle seat A24-01, the height of the coil clamp is 4855mm, the distance measuring instrument value is 4848mm, and the calculated coil diameter is 7mm. This value is an unreasonable coil diameter value, therefore it is determined that there is no coil at the saddle seat, an alarm message is issued, and the coil retrieval operation is terminated.

[0085] Furthermore, as a response to the above Figure 1 In addition to the method shown, this embodiment of the invention also provides a clamp control device for an unmanned overhead crane in a steel coil warehouse, used for the above-mentioned... Figure 1 The method shown is implemented accordingly. This device embodiment corresponds to the foregoing method embodiment. For ease of reading, this device embodiment will not repeat the details of the foregoing method embodiment, but it should be clear that the device in this embodiment can implement all the contents of the foregoing method embodiment. Figure 4 As shown, the device includes: a first determining unit 21, a second determining unit 22, and a third determining unit 23, wherein...

[0086] The first determining unit 21 is used to determine a first distance based on a rangefinder, wherein the rangefinder is installed at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil.

[0087] The second determining unit 22 is used to determine the actual steel coil diameter based on the first distance and the second distance mentioned above, wherein the second distance represents the distance between the clamp and the ground;

[0088] The third determining unit 23 is used to determine the clamp control strategy based on the actual steel coil diameter.

[0089] For example, determining the actual steel coil diameter based on the first and second distances includes:

[0090] The diameter of the steel coil is determined based on the difference between the second distance and the first distance mentioned above;

[0091] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is less than the first preset error, the actual steel coil diameter is determined to be equal to the calculated steel coil diameter and / or the preset steel coil diameter.

[0092] For example, determining the actual steel coil diameter based on the first and second distances includes:

[0093] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, the steel coil saddle block spacing and the steel coil saddle block angle are obtained.

[0094] The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks.

[0095] For example, determining the actual steel coil diameter based on the first and second distances includes:

[0096] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the first preset comparison diameter, then the steel coil saddle block spacing and the steel coil saddle block angle are obtained.

[0097] The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks.

[0098] For example, determining the actual steel coil diameter based on the first and second distances includes:

[0099] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the second preset comparison diameter, then the actual steel coil diameter is determined to be equal to the calculated steel coil diameter and / or the preset steel coil diameter, wherein the second preset comparison diameter is greater than the first preset comparison diameter.

[0100] For example, the above-mentioned unit is also used for:

[0101] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the second preset error and less than the third preset error, and the absolute value of the difference between the first distance and the second distance is greater than the preset difference, the steel coil storage is determined to be abnormal.

[0102] If an abnormality is found in the storage of steel coils, an alarm is issued to the staff.

[0103] For example, the above-mentioned unit is also used for:

[0104] If the absolute value of the difference between the first distance and the second distance is less than or equal to a preset difference, it is determined that the steel coil does not exist;

[0105] If the steel coil is determined to be absent, the control clamp stops performing the operation.

[0106] By employing the above technical solution, the clamp control device for an unmanned vehicle in a steel coil warehouse provided by this invention addresses the problem of discrepancies between the steel coil information entered and stored in the warehouse and the actual steel coils stored, leading to errors in the unmanned vehicle's clamping of steel coils. This invention determines a first distance based on a rangefinder, wherein the rangefinder is located at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil; determines the actual steel coil diameter based on the first and second distances, wherein the second distance represents the distance between the clamp and the ground; and determines a clamp control strategy based on the actual steel coil diameter. In the above solution, a laser rangefinder is added to the steel coil clamp to detect the distance between the clamp and the object below it. The control system calculates and processes the information based on the steel coil to determine whether a steel coil is present at the take-up position. If a steel coil is present, the take-up operation proceeds normally. If the steel coil is not present, the take-up operation is canceled and an alarm is issued. This avoids the steel coil clamp taking up an empty coil due to the absence of a steel coil at the target position, which would affect the efficiency of the crane operation. It also reduces the problem of the crane taking up a coil at a seat without a coil due to abnormal tracking of the warehouse management system, or even the clamp touching the ground.

[0107] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and by adjusting kernel parameters, a clamping control method for an unmanned crane in a steel coil warehouse can be implemented. This method solves the problem of discrepancies between the steel coil information entered and stored in the warehouse and the actual number of coils stored, which leads to errors in the unmanned crane's clamping of steel coils.

[0108] This invention provides a computer-readable storage medium including a stored program that, when executed by a processor, implements the clamp control method for the unmanned crane in the steel coil warehouse.

[0109] This invention provides a processor for running a program, wherein the program executes the clamp control method for the unmanned crane in the steel coil warehouse.

[0110] This invention provides an electronic device, which includes at least one processor and at least one memory connected to the processor; wherein the processor is used to call program instructions in the memory to execute the clamp control method for an unmanned crane in a steel coil warehouse as described above.

[0111] This invention provides an electronic device 30, such as... Figure 5 As shown, the electronic device includes at least one processor 301, and at least one memory 302 and bus 303 connected to the processor; wherein, the processor 301 and the memory 302 communicate with each other through the bus 303; the processor 301 is used to call program instructions in the memory to execute the above-mentioned clamp control method of the unmanned crane in the steel coil warehouse.

[0112] The smart electronic devices mentioned in this article can be PCs, tablets, mobile phones, etc.

[0113] This application also provides a computer program product, which, when executed on a process management electronic device, is suitable for executing a program that initializes the following method steps:

[0114] The first distance is determined based on the rangefinder, wherein the rangefinder is set at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil.

[0115] The actual steel coil diameter is determined based on the first and second distances mentioned above, wherein the second distance refers to the distance between the clamps and the ground;

[0116] The clamp control strategy is determined based on the actual steel coil diameter.

[0117] Furthermore, the determination of the actual steel coil diameter based on the aforementioned first and second distances includes:

[0118] The diameter of the steel coil is determined based on the difference between the second distance and the first distance mentioned above;

[0119] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is less than the first preset error, the actual steel coil diameter is determined to be equal to the calculated steel coil diameter and / or the preset steel coil diameter.

[0120] Furthermore, the determination of the actual steel coil diameter based on the aforementioned first and second distances includes:

[0121] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, the steel coil saddle block spacing and the steel coil saddle block angle are obtained.

[0122] The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks.

[0123] Furthermore, the determination of the actual steel coil diameter based on the aforementioned first and second distances includes:

[0124] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the first preset comparison diameter, then the steel coil saddle block spacing and the steel coil saddle block angle are obtained.

[0125] The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks.

[0126] Furthermore, the determination of the actual steel coil diameter based on the aforementioned first and second distances includes:

[0127] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the second preset comparison diameter, then the actual steel coil diameter is determined to be equal to the calculated steel coil diameter and / or the preset steel coil diameter, wherein the second preset comparison diameter is greater than the first preset comparison diameter.

[0128] Furthermore, the above methods also include:

[0129] If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the second preset error and less than the third preset error, and the absolute value of the difference between the first distance and the second distance is greater than the preset difference, the steel coil storage is determined to be abnormal.

[0130] If an abnormality is found in the storage of steel coils, an alarm is issued to the staff.

[0131] Furthermore, the above methods also include:

[0132] If the absolute value of the difference between the first distance and the second distance is less than or equal to a preset difference, it is determined that the steel coil does not exist;

[0133] If the steel coil is determined to be absent, the control clamp stops performing the operation.

[0134] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0135] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0137] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0138] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0139] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to perform actions such as... Figure 1The control flow of the memory in the corresponding embodiment.

[0140] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0142] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0143] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0144] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0145] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0146] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A clamp control method for an unmanned overhead crane in a steel coil warehouse, characterized in that, include: A first distance is determined based on a rangefinder, wherein the rangefinder is located at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil; The actual steel coil diameter is determined based on the first distance and the second distance, wherein the second distance represents the distance between the clamp and the ground; The clamp control strategy is determined based on the actual steel coil diameter. Determining the actual steel coil diameter based on the first distance and the second distance includes: The diameter of the steel coil is determined based on the difference between the second distance and the first distance; If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is less than a first preset error, the actual steel coil diameter is determined to be equal to the calculated steel coil diameter or the preset steel coil diameter. Determining the actual steel coil diameter based on the first distance and the second distance includes: If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, the steel coil saddle block spacing and steel coil saddle block angle are obtained. The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks; If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the second preset error and less than the third preset error, and the absolute value of the difference between the first distance and the second distance is greater than the preset difference, then the steel coil storage is determined to be abnormal. If an abnormality is found in the storage of steel coils, an alarm should be issued to the staff. If the absolute value of the difference between the first distance and the second distance is less than or equal to a preset difference, it is determined that the steel coil does not exist; If the steel coil is determined to be absent, the control clamp stops performing the operation.

2. The method according to claim 1, characterized in that, Determining the actual steel coil diameter based on the first distance and the second distance includes: If the absolute value of the difference between the calculated steel coil diameter and the preset steel coil diameter is greater than or equal to the first preset error and less than the second preset error, and the calculated steel coil diameter is greater than the first preset comparison diameter, then the steel coil saddle block spacing and the steel coil saddle block angle are obtained. The actual steel coil diameter is determined based on the first distance, the second distance, the spacing between the steel coil saddle blocks, and the angle of the steel coil saddle blocks.

3. A clamp control device for an unmanned overhead crane in a steel coil warehouse, characterized in that, The clamp control device of the unmanned crane in the steel coil warehouse is used to perform the method as described in any one of claims 1-2. The first determining unit is used to determine a first distance based on a rangefinder, wherein the rangefinder is disposed at the top crossbeam of the clamp, and the first distance represents the distance between the clamp and the steel coil; The second determining unit is used to determine the actual steel coil diameter based on the first distance and the second distance, wherein the second distance represents the distance between the clamp and the ground; The third determining unit is used to determine the clamp control strategy based on the actual steel coil diameter.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed by a processor, it implements the steps of the clamp control method for an unmanned trolley in a steel coil warehouse as described in any one of claims 1 to 2.

5. An electronic device, characterized in that, The electronic device includes at least one processor and at least one memory connected to the processor; wherein the processor is used to call program instructions in the memory to execute the steps of the clamp control method for the unmanned crane in the steel coil warehouse as described in any one of claims 1 to 2.

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